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<div class="title">dominant_plane_segmentation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef DOMINANT_PLANE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define DOMINANT_PLANE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/console/parse.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/passthrough.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/method_types.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/sac_segmentation.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/project_inliers.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/convex_hull.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/extract_polygonal_prism_data.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/extract_clusters.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">namespace </span>apps</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html">   66</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html">DominantPlaneSegmentation</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointType&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">Cloud</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Cloud::Ptr <a class="code" href="local_types_8h.html#ab270fe8bf56ceef23c1c5fbe384c9430">CloudPtr</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Cloud::ConstPtr CloudConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointType&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html">DominantPlaneSegmentation</a> ()</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          min_z_bounds_ = 0;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          max_z_bounds_ = 1.5;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          object_min_height_ = 0.01;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          object_max_height_ = 0.7;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          object_cluster_tolerance_ = 0.05f;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          object_cluster_min_size_ = 500;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          k_ = 50;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          sac_distance_threshold_ = 0.01;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          downsample_leaf_ = 0.005f;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          wsize_ = 5;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">/* \brief Extract the clusters.</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">         * \param clusters Clusters extracted from the initial point cloud at the resolution size</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">         * specified by downsample_leaf_</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        compute (std::vector&lt;CloudPtr&gt; &amp; clusters);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="comment">/* \brief Extract the clusters.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">         * \param clusters Clusters extracted from the initial point cloud. The returned</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">         * clusters are not downsampled.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        compute_full (std::vector&lt;CloudPtr&gt; &amp; clusters);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="comment">/* \brief Extract clusters on a plane using connected components on an organized pointcloud.</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">         * The method expects a the input cloud to have the is_dense attribute set to false.</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">          * \param clusters Clusters extracted from the initial point cloud. The returned</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">          * clusters are not downsampled.</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        compute_fast (std::vector&lt;CloudPtr&gt; &amp; clusters);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="comment">/* \brief Computes the table plane.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        compute_table_plane();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="comment">/* \brief Sets the input point cloud.</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">         * \param cloud_in The input point cloud.</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        setInputCloud (CloudPtr &amp; cloud_in)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          input_ = cloud_in;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="comment">/* \brief Returns the table coefficients after computation</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">         * \param model represents the normal and the position of the plane (a,b,c,d)</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        getTableCoefficients (Eigen::Vector4f &amp; model)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          model = table_coeffs_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="comment">/* \brief Sets minimum distance between clusters</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">         * \param d distance (in meters)</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        setDistanceBetweenClusters (<span class="keywordtype">float</span> d) </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          object_cluster_tolerance_ = d;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="comment">/* \brief Sets minimum size of the clusters.</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">         * \param size number of points</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        setMinClusterSize (<span class="keywordtype">int</span> size) </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          object_cluster_min_size_ = size;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">/* \brief Sets the min height of the clusters in order to be considered.</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">         * \param h minimum height (in meters)</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        setObjectMinHeight (<span class="keywordtype">double</span> h)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          object_min_height_ = h;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="comment">/* \brief Sets the max height of the clusters in order to be considered.</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">         * \param h max height (in meters)</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        setObjectMaxHeight (<span class="keywordtype">double</span> h)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          object_max_height_ = h;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="comment">/* \brief Sets minimum distance from the camera for a point to be considered.</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">         * \param z distance (in meters)</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        setMinZBounds (<span class="keywordtype">double</span> z)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          min_z_bounds_ = z;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="comment">/* \brief Sets maximum distance from the camera for a point to be considered.</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">         * \param z distance (in meters)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        setMaxZBounds (<span class="keywordtype">double</span> z)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          max_z_bounds_ = z;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">/* \brief Sets the number of neighbors used for normal estimation.</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">         * \param k number of neighbors</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">void</span> setKNeighbors(<span class="keywordtype">int</span> k) {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          k_ = k;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="comment">/* \brief Set threshold for SAC plane segmentation</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">         * \param d threshold (in meters)</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">void</span> setSACThreshold(<span class="keywordtype">double</span> d) {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          sac_distance_threshold_ = d;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="comment">/* \brief Set downsampling resolution.</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">         * \param d resolution (in meters)</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        setDownsamplingSize (<span class="keywordtype">float</span> d) </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          downsample_leaf_ = d;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="comment">/* \brief Set window size in pixels for CC used in compute_fast method</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">         * \param w window size (in pixels)</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">void</span> setWSize(<span class="keywordtype">int</span> w) {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;         wsize_ = w;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="comment">/* \brief Returns the indices of the clusters found by the segmentation</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment">         * NOTE: This function returns only valid indices if the compute_fast method is used</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="comment">         * \param indices indices of the clusters</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">void</span> getIndicesClusters(std::vector&lt;pcl::PointIndices&gt; &amp; indices) {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          indices = indices_clusters_;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        check (<a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> &amp; p1, <a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> &amp; p2, <span class="keywordtype">float</span>, <span class="keywordtype">float</span> max_dist)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keywordflow">if</span> (p1.intensity == 0) <span class="comment">//new label</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            <span class="comment">//compute distance and check aginst max_dist</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            <span class="keywordflow">if</span> ((p1.getVector3fMap () - p2.getVector3fMap ()).norm () &lt;= max_dist)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;              p2.intensity = p1.intensity;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;              <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="keywordflow">else</span> <span class="comment">//new label</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;              <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="comment">//components needed for cluster segmentation and plane extraction</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt;PointType&gt;</a> pass_;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointType&gt;</a> grid_;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointType, pcl::Normal&gt;</a> n3d_;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html">pcl::SACSegmentationFromNormals&lt;PointType, pcl::Normal&gt;</a> seg_;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <a class="code" href="classpcl_1_1_project_inliers.html">pcl::ProjectInliers&lt;PointType&gt;</a> proj_;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <a class="code" href="classpcl_1_1_project_inliers.html">pcl::ProjectInliers&lt;PointType&gt;</a> bb_cluster_proj_;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        pcl::ConvexHull&lt;PointType&gt; hull_;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData&lt;PointType&gt;</a> prism_;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html">pcl::EuclideanClusterExtraction&lt;PointType&gt;</a> cluster_;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1e862a693f895b41f756184aa148c01a">  256</a></span>&#160;        CloudPtr <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1e862a693f895b41f756184aa148c01a">input_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a671217be9f7c50224c2bfeb2c6181213">  258</a></span>&#160;        Eigen::Vector4f <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a671217be9f7c50224c2bfeb2c6181213">table_coeffs_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a4c618fe77efaf27442eafd4efde1fe15">  260</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a4c618fe77efaf27442eafd4efde1fe15">downsample_leaf_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#afa5c259ac04cf06262e2d66f77d394b3">  262</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#afa5c259ac04cf06262e2d66f77d394b3">k_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aa40182ea911263a621e9dd878b492b2c">  264</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aa40182ea911263a621e9dd878b492b2c">min_z_bounds_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a0ac3e665f2f6d1dea378461af19b06d4">  266</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a0ac3e665f2f6d1dea378461af19b06d4">max_z_bounds_</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a643f6f900d0fe8d43296fa83dddb0680">  268</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a643f6f900d0fe8d43296fa83dddb0680">sac_distance_threshold_</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a3aaf2b0204139b3190a314589a3220a0">  270</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a3aaf2b0204139b3190a314589a3220a0">object_min_height_</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aee1c5916f73ba2b25b1c7045495aa753">  272</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aee1c5916f73ba2b25b1c7045495aa753">object_max_height_</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ad7b769ec0e67f7e1f2c2d4ac2f2be38c">  274</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ad7b769ec0e67f7e1f2c2d4ac2f2be38c">object_cluster_tolerance_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a9a5ee5d613ad3d3936f6937124eae483">  276</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a9a5ee5d613ad3d3936f6937124eae483">object_cluster_min_size_</a>;</div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ac95c62b0056e1f2ca1d21db6411a7407">  278</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ac95c62b0056e1f2ca1d21db6411a7407">wsize_</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1386af3288ce01611994449d6b75d651">  280</a></span>&#160;        std::vector&lt;pcl::PointIndices&gt; <a class="code" href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1386af3288ce01611994449d6b75d651">indices_clusters_</a>;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      };</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;}</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/impl/dominant_plane_segmentation.hpp&gt;</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* DOMINANT_PLANE_SEGMENTATION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html">pcl::EuclideanClusterExtraction&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt; PointType, pcl::Normal &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html"><div class="ttname"><a href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_project_inliers_html"><div class="ttname"><a href="classpcl_1_1_project_inliers.html">pcl::ProjectInliers&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html">pcl::SACSegmentationFromNormals&lt; PointType, pcl::Normal &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html">pcl::apps::DominantPlaneSegmentation</a></div><div class="ttdoc">DominantPlaneSegmentation performs euclidean segmentation on a scene assuming that a dominant plane e...</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a0ac3e665f2f6d1dea378461af19b06d4"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a0ac3e665f2f6d1dea378461af19b06d4">pcl::apps::DominantPlaneSegmentation::max_z_bounds_</a></div><div class="ttdeci">double max_z_bounds_</div><div class="ttdoc">Keep points closer than max_z_bounds</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a1386af3288ce01611994449d6b75d651"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1386af3288ce01611994449d6b75d651">pcl::apps::DominantPlaneSegmentation::indices_clusters_</a></div><div class="ttdeci">std::vector&lt; pcl::PointIndices &gt; indices_clusters_</div><div class="ttdoc">Indices of the clusters to the main cloud found by the segmentation</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a1e862a693f895b41f756184aa148c01a"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a1e862a693f895b41f756184aa148c01a">pcl::apps::DominantPlaneSegmentation::input_</a></div><div class="ttdeci">CloudPtr input_</div><div class="ttdoc">Input cloud from which to extract clusters</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a3aaf2b0204139b3190a314589a3220a0"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a3aaf2b0204139b3190a314589a3220a0">pcl::apps::DominantPlaneSegmentation::object_min_height_</a></div><div class="ttdeci">double object_min_height_</div><div class="ttdoc">Min height from the table plane object points will be considered from</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a4c618fe77efaf27442eafd4efde1fe15"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a4c618fe77efaf27442eafd4efde1fe15">pcl::apps::DominantPlaneSegmentation::downsample_leaf_</a></div><div class="ttdeci">float downsample_leaf_</div><div class="ttdoc">Downsampling resolution.</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a643f6f900d0fe8d43296fa83dddb0680"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a643f6f900d0fe8d43296fa83dddb0680">pcl::apps::DominantPlaneSegmentation::sac_distance_threshold_</a></div><div class="ttdeci">double sac_distance_threshold_</div><div class="ttdoc">Threshold for SAC plane segmentation</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a671217be9f7c50224c2bfeb2c6181213"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a671217be9f7c50224c2bfeb2c6181213">pcl::apps::DominantPlaneSegmentation::table_coeffs_</a></div><div class="ttdeci">Eigen::Vector4f table_coeffs_</div><div class="ttdoc">Table coefficients (a,b,c,d)</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_a9a5ee5d613ad3d3936f6937124eae483"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#a9a5ee5d613ad3d3936f6937124eae483">pcl::apps::DominantPlaneSegmentation::object_cluster_min_size_</a></div><div class="ttdeci">int object_cluster_min_size_</div><div class="ttdoc">Minimum size for a cluster, clusters smaller than this won't be returned</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:276</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_aa40182ea911263a621e9dd878b492b2c"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aa40182ea911263a621e9dd878b492b2c">pcl::apps::DominantPlaneSegmentation::min_z_bounds_</a></div><div class="ttdeci">double min_z_bounds_</div><div class="ttdoc">Keep points farther away than min_z_bounds</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_ac95c62b0056e1f2ca1d21db6411a7407"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ac95c62b0056e1f2ca1d21db6411a7407">pcl::apps::DominantPlaneSegmentation::wsize_</a></div><div class="ttdeci">int wsize_</div><div class="ttdoc">Window size in pixels for CC in compute_fast method</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_ad7b769ec0e67f7e1f2c2d4ac2f2be38c"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#ad7b769ec0e67f7e1f2c2d4ac2f2be38c">pcl::apps::DominantPlaneSegmentation::object_cluster_tolerance_</a></div><div class="ttdeci">float object_cluster_tolerance_</div><div class="ttdoc">Tolerance between different clusters</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_aee1c5916f73ba2b25b1c7045495aa753"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#aee1c5916f73ba2b25b1c7045495aa753">pcl::apps::DominantPlaneSegmentation::object_max_height_</a></div><div class="ttdeci">double object_max_height_</div><div class="ttdoc">Max height from the table plane</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_dominant_plane_segmentation_html_afa5c259ac04cf06262e2d66f77d394b3"><div class="ttname"><a href="classpcl_1_1apps_1_1_dominant_plane_segmentation.html#afa5c259ac04cf06262e2d66f77d394b3">pcl::apps::DominantPlaneSegmentation::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">Number of neighbors for normal estimation</div><div class="ttdef"><b>Definition:</b> dominant_plane_segmentation.h:262</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="alocal_types_8h_html_ab270fe8bf56ceef23c1c5fbe384c9430"><div class="ttname"><a href="local_types_8h.html#ab270fe8bf56ceef23c1c5fbe384c9430">CloudPtr</a></div><div class="ttdeci">boost::shared_ptr&lt; Cloud &gt; CloudPtr</div><div class="ttdoc">The type for boost shared pointer pointing to a cloud object</div><div class="ttdef"><b>Definition:</b> localTypes.h:72</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
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